Chapter # 3

Equilibrium

Dr. Hayat Muhammad Khan

Office: 211-G A&A Department

Topics

 3/1 Introduction
SECTION A. Equilibrium in Two Dimensions
 3/2 System Isolation and the Free-Body Diagram
 3/3 Equilibrium Conditions
SECTION B. Three-Dimensional Force Systems
 3/4 System Isolation and the Free-Body Diagram
 3/5 Equilibrium Conditions
Chapter Review
Sec B: Equilibrium in Three Dimensions

EQUILIBRIUM CONDITIONS

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3/4 Equilibrium in Three Dimensions (FBD)

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3/4 Equilibrium in Three Dimensions (FBD)

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3/4 Equilibrium in Three Dimensions (FBD)

Category 1: equilibrium of forces all concurrent at point

O, requires all three force equations, but no moment
equations because the moment of the forces about any
axis through O is zero.

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3/4 Equilibrium in Three Dimensions (FBD)

Category 2: equilibrium of forces which are concurrent

with a line, requires all equations except the moment
equation about that line, which is automatically satisfied.

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3/4 Equilibrium in Three Dimensions (FBD)

Category 3: equilibrium of parallel forces, requires only

one force equation, the one in the direction of the forces
(x-direction as shown), and two moment equations about
the axes (y and z) which are normal to the direction of
the forces.

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3/4 Equilibrium in Three Dimensions (FBD)

Category 4: equilibrium of a general system of forces,

requires all three force equations and all three moment
equations.

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

𝐹𝑦 = 200 𝑆𝑖𝑛(60)
𝐹𝑥𝑧 = 200 𝐶𝑜𝑠(60)
𝐹𝑧 = 200 𝐶𝑜𝑠 60 𝐶𝑜𝑠(45) 𝐹𝑥 = 200 𝐶𝑜𝑠 60 𝑆𝑖𝑛(45)
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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

D: (0, 3, 0) C: (−1.5, 0,4.5)

𝐶𝐷= 1.5𝑖Ƹ + 3𝑗Ƹ − 4.5𝑘෠ 𝑚
𝐸: (−1.5, 0, 0) A: (0, 0, 3)
𝐴𝐸= −1.5𝑖Ƹ + 0𝑗Ƹ − 3𝑘෠ 𝑚

𝐹: (2, −1, 0) G: (0, −1, 3)

𝐺𝐹= 2𝑖Ƹ + 0𝑗Ƹ − 3𝑘෠ 𝑚
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Equilibrium in Three Dimensions

1.5𝑖Ƹ + 3𝑗Ƹ − 4.5𝑘෠

𝑇𝐶𝐷 = 1.2
1.52 + 32 + 4.52
𝑇𝐶𝐷 = 0.321𝑖Ƹ + 0.641𝑗Ƹ − 0.962𝑘෠ 𝑁
−1.5𝑖Ƹ + 0𝑗Ƹ − 3𝑘෠
𝑇𝐴𝐸 = 𝑇𝐴𝐸
1.52 + 02 + 32
𝑇𝐴𝐸 =𝑇𝐴𝐸 −0.447𝑖Ƹ + 0𝑗Ƹ − 0.894𝑘෠ 𝑁
2𝑖Ƹ + 0𝑗Ƹ − 3𝑘෠
𝑇𝐺𝐹 = 𝑇𝐺𝐹
22 + 02 + 32
𝑇𝐺𝐹 =𝑇𝐺𝐹 0.555𝑖Ƹ + 0𝑗Ƹ − 0.832𝑘෠ 𝑁
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Equilibrium in Three Dimensions
𝑇𝐶𝐷 = 0.321𝑖Ƹ + 0.641𝑗Ƹ − 0.962𝑘෠ 𝑁
𝑇𝐴𝐸 =𝑇𝐴𝐸 −0.447𝑖Ƹ + 0𝑗Ƹ − 0.894𝑘෠ 𝑁
𝑇𝐹𝐺 =𝑇𝐺𝐹 0.555𝑖Ƹ + 0𝑗Ƹ − 0.832𝑘෠ 𝑁
As mentioned in the question
𝑀𝑥 𝑖Ƹ = 0
𝑀𝑦 𝑗Ƹ = 0
σ 𝑀𝑜 = 0 :

𝑂𝐶 × 𝑇𝐶𝐷 + 𝑂𝐴 × 𝑇𝐴𝐸 + 𝑂𝐺 × 𝑇𝐹𝐺

+ 𝑀𝑧 𝑘෠ = 0

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Equilibrium in Three Dimensions

𝑂𝐶= −1.5𝑖Ƹ + 0𝑗Ƹ + 4.5𝑘෠ 𝑚

𝑂𝐴= 0𝑖Ƹ + 0𝑗Ƹ + 3𝑘෠ 𝑚
𝑂𝐺= 0𝑖Ƹ − 1𝑗Ƹ + 3𝑘෠ 𝑚
𝑂𝐶 × 𝑇𝐶𝐷 + 𝑂𝐴 × 𝑇𝐴𝐸 + 𝑂𝐺 × 𝑇𝐹𝐺 + 𝑀𝑧 𝑘෠ = 0

−1.5𝑖Ƹ + 0𝑗Ƹ + 4.5𝑘෠

× 0.321𝑖Ƹ + 0.641𝑗Ƹ − 0.962𝑘෠
+ 0𝑖Ƹ + 0𝑗Ƹ + 3𝑘෠
× 𝑇𝐴𝐸 −0.447𝑖Ƹ + 0𝑗Ƹ − 0.894𝑘෠
+ 0𝑖Ƹ − 1𝑗Ƹ + 3𝑘෠
× 𝑇𝐹𝐺 0.555𝑖Ƹ + 0𝑗Ƹ − 0.832𝑘෠
+ 𝑀𝑧 𝑘෠ = 0
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Equilibrium in Three Dimensions

Solving for i, j and k directions

we have these 3 equations,

0.832𝑇𝐹𝐺 − 2.89=0
1.664𝑇𝐹𝐺 −1.342𝑇𝐴𝐸 =0
0.555𝑇𝐹𝐺 − 0.962 + 𝑀𝑧 =0

By simultaneously solving,

𝑇𝐹𝐺 =3.47kN
𝑇𝐴𝐸 =4.30kN
𝑀𝑧 =-0.962kNm
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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

𝐹1 = 0𝑖Ƹ + 2.4𝐶𝑜𝑠30𝑗Ƹ − 2.4𝑆𝑖𝑛30𝑘෠ 𝑘𝑁

𝐹2 = 1.6𝐶𝑜𝑠50𝑖Ƹ − 1.6𝑆𝑖𝑛50𝑗Ƹ + 0𝑘෠ 𝑘𝑁

𝐷1 = 0𝑖Ƹ + 0𝑗Ƹ − 150𝑘෠ 𝑚𝑚

𝐷2 = 200𝑖Ƹ + 0𝑗Ƹ − 350𝑘෠ 𝑚𝑚

𝑅=𝐹1 + 𝐹1

𝑀𝑜 =𝐷1 × 𝐹1 + 𝐷2 × 𝐹2 𝑅=−𝑂(𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛𝑎𝑟𝑦 𝑓𝑜𝑟𝑐𝑒)

𝑀𝑜 =−𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛𝑎𝑟𝑦 𝑀𝑜𝑚𝑒𝑛𝑡 20